KR102012548B1 - Method of identifying enterable region of robot and robot implementing thereof - Google Patents

Abstract

The present invention relates to a method for identifying an accessible area of a robot and a robot implementing the same. According to an embodiment of the present invention, a method for identifying an accessible area of a robot is provided in which a sensing module of the robot is disposed outside the robot. Sensing the first area, and if it is determined that the first area sensed by the sensing module corresponds to a candidate for the non-entry area, transferring the sensed value and information on the first area to the controller of the robot; The control unit compares the information about the first area and the information stored in the map storage unit to calculate an entry probability into the first area, and when the entry probability to the first area is lower than a preset reference, the controller of the robot And storing information about the first area in the map storage unit.

Description

METHOD OF IDENTIFYING ENTERABLE REGION OF ROBOT AND ROBOT IMPLEMENTING THEREOF}

The present invention relates to a method of identifying an accessible area of a robot and a technology for implementing the robot.

In order to operate a robot in a space where human and material exchanges are actively occurring, such as an airport, a school, a public office, a hotel, an office, a factory, a map of the entire space must be provided. On the other hand, even if it is displayed as an accessible space on the map, there is a space that is not suitable for the robot to enter the space. In particular, in a space where a large number of people move, such as airports, harbors, and train stations, there are many obstacles such as moving walks and escalators, but there are many places that are not suitable for robots to enter. This can cause problems with the robot's movement. Therefore, in order to solve such a problem, the present specification proposes a method in which a robot moves by identifying and analyzing whether the robot is a space into which a partly open space, such as a moving walk and an escalator, can enter.

In the present specification, to solve the above-mentioned problem, a method for identifying and avoiding or storing information about the area and an apparatus for implementing the same may be provided by using sensors to check an accessible area and an impossible area during a robot movement. I would like to.

In addition, the present specification is to provide a method and an apparatus for implementing the same by identifying the physical features of the above-mentioned robot is impossible to enter, by determining the physical features of the area that cannot be entered.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to an embodiment of the present invention, there is provided a method for identifying an accessible area of a robot, wherein the sensing module of the robot senses a first area disposed outside of the robot, and wherein the first area sensed by the sensing module is located in an inaccessible area. If it is determined that the candidate is a candidate, transferring the sensed value and information on the first region to the controller of the robot, and the controller of the robot compares the information about the first region and the information stored in the map storage unit and compares the information to the first region. Calculating a probability of entry into the first region; and if the probability of entering the first region is lower than a preset criterion, the controller of the robot stores information about the first region in a map storage unit.

According to another embodiment of the present invention, a robot for identifying an accessible area may sense and determine whether a first area disposed outside of the robot corresponds to a candidate for the non-accessible area, and move a sensing module and a robot that provide sensing information. A moving unit, a map storage unit for storing a map necessary for the movement of the robot, and a sensing module, a moving unit, and a map storage unit, and comparing the information provided by the sensing module with the information stored in the map storage unit to the first area. And a controller for controlling the moving unit by calculating an entry probability.

When the embodiments of the present invention are applied, the robots and other robots avoid the area by checking and avoiding the accessible area and the impossible area using the sensors while the robot moves and storing the information about the area. can do.

In addition, the present specification provides a sensor for identifying the physical characteristics of the non-accessible area of the robot described above, and by using these sensors to sense the physical characteristics of the non-accessible area so that the robot does not collide with the movement of people or objects. Can be.

The effects of the present invention are not limited to the above effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a diagram illustrating a configuration of a sensing module for determining a non-entry area according to an embodiment of the present invention.
2 is a view showing the configuration of a robot according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an embodiment in which a space according to an embodiment of the present invention is configured as a map including unit areas.
4 is a diagram illustrating a process of identifying a non-entry area by a sensing module of a robot according to an embodiment of the present invention.
5 is a view illustrating a process of identifying a non-entry area by a sensing module of a robot according to another embodiment of the present invention.
6 is a diagram illustrating a process of identifying a non-entry area by a sensing module of a robot according to another embodiment of the present invention.
7 is a diagram illustrating a process in which a robot operates by using each sensed value of a sensing module according to an embodiment of the present invention.
8 is a view showing the arrangement of the side sensing unit according to an embodiment of the present invention.
9 to 11 are views illustrating a process of determining a non-entrance area by a robot according to an embodiment of the present invention.
12 is a diagram illustrating updated map information according to another embodiment of the present invention.
FIG. 13 is a diagram illustrating a plurality of side sensing units disposed on one side of a robot according to an exemplary embodiment of the present invention. FIG.
14 is a view of adjusting the height and direction of the side sensing unit according to another embodiment of the present invention.
FIG. 15 is a diagram illustrating a process of sharing information on a non-entry area according to an embodiment of the present invention through communication between a server or an adjacent robot.
16 is a diagram in which a controller of a robot according to an embodiment of the present invention identifies a non-entry area using a map.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and like reference numerals designate like elements throughout the specification. In addition, some embodiments of the invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) can be used. These terms are only to distinguish the components from other components, and the terms are not limited in nature, order, order, or number of the components. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but between components It is to be understood that the elements may be "interposed" or each component may be "connected", "coupled" or "connected" through other components.

In addition, in the implementation of the present invention may be described by subdividing the components for convenience of description, these components may be implemented in one device or module, or one component is a plurality of devices or modules It can also be implemented separately.

Hereinafter, in the present specification, the robot includes a device having a specific purpose (cleaning, security, monitoring, guidance, etc.) or providing a function according to the characteristics of the space in which the robot moves. Therefore, the robot in the present specification collectively refers to a device that holds a moving means that can move using predetermined information and a sensor and provides a predetermined function.

In the present specification, the robot may move while holding a map. The map refers to information about fixed walls, stairs, etc. that are found to not move in space. In addition, the robot may store information about separate objects on the map. For example, a guide platform attached to a fixed wall, a newly installed vending machine, etc., are not fixed objects, but they are fixed for some time, so they need to be stored as additional fixtures on the map.

In addition, in the present specification, when the open space identified in the map is an entrance space of a moving walk or an escalator, the robot may set this as information that cannot be entered.

Hereinafter, an entrance space, such as a moving walk and an escalator, is opened, but an area in which the robot cannot enter is designated as an inaccessible area, and an area in which the robot can enter as an accessible area.

1 is a diagram illustrating a configuration of a sensing module for determining a non-entry area according to an embodiment of the present invention. One or more robots can be mounted.

The sensing module 100 includes a side sensing unit 110, a bottom sensing unit 120, a depth sensing unit 130, and a sensing data analysis unit 150. Since each of the components constituting the sensing module 100 are logical components, they do not necessarily need to be physically implemented in one device. For example, the side sensing unit 110 is disposed at the side of the robot, the lower sensing unit 120 is disposed at the lower portion of the robot, and the depth sensing unit 130 is disposed at the front of the robot. The sensing units and the sensing data analyzer 150 may transmit and receive the sensed information through a data link or a wireless signal. In addition, each sensing unit may be a collection of various sensors. For example, when the side sensing unit 110 senses an infrared signal received from the side, the side sensing unit 110 may logically indicate that a plurality of infrared light receiving units are physically disposed.

The sensing module 100 senses and determines whether a specific area disposed outside of the robot corresponds to a candidate of an inaccessible area, and provides the sensed information to the robot. In particular, the sensing module 100 primarily determines, based on the information collected by the three sensing units 110, 120. The received information may be provided to the controller of the robot (900 of FIG. 2).

Looking at each sensing unit in detail as follows.

The side sensing unit 110 senses the structure disposed in the non-entry area. Moving walks and escalators may be arranged to place a sensor for detecting the human body in the space and the space entering, the side sensing unit 110 according to an embodiment of the present invention to sense the sensor for detecting the above-described human body Can be. In addition, the side sensing unit 110 may sense a rod-shaped structure in which a sensor for detecting a human body is disposed.

When the sensor for detecting the human body is a sensor using infrared transmission and reception, the side sensing unit 110 according to an embodiment of the present invention may include an infrared light receiving unit. In this case, the robot identifies that there is no separate obstacle through the map, but when the side sensing unit 110 receives a signal such as infrared rays transmitted from a sensor for detecting a human body, the corresponding space is identified as an inaccessible area. Information about this can be stored.

The lower surface sensing unit 120 includes a sensor for confirming a change in the material of the lower surface, that is, the floor space according to an embodiment of the present invention. Inaccessible areas such as moving walks and escalators will have metal floors installed around them. It is installed to protect the mechanical operating part of the moving walk or escalator. Therefore, the lower sensing unit 120 may be disposed on the lower surface of the robot to identify a point at which the material of the floor is suddenly changed. In an embodiment, the metal detecting sensor for checking the material of the floor by using ultrasonic waves or checking whether the metal is disposed on the floor may be included in the sensing unit 120.

The depth sensing unit 130 is a sensing unit that uses a depth camera. The depth sensing unit 130 may identify a rod-shaped structure in which a sensor for detecting a human body is disposed in a moving walk and an escalator in a space into which a person enters and enters a space. These structures may have a post beam shape, and the depth sensing unit 130 may recognize this and confirm that there is an inaccessible area in the front. Hereinafter, a structure consisting of one or two pillars at the entrance or exit of the non-entry area, such as an escalator and a moving walk, is referred to as a post beam.

2 is a view showing the configuration of a robot according to an embodiment of the present invention. The robot 1000 includes a sensing module 100 for sensing an external moving walk or an escalator, a map storage unit 200 for storing a map, a moving unit 300 for controlling movement, and a function of performing a predetermined function of the robot. The controller 400, a communicator 500 for transmitting and receiving information regarding an inaccessible area such as a map or a moving walk or an escalator with another robot, a camera unit 600, and a controller 900 for controlling each of these components is provided. Include. The moving unit 300 is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900. In this case, the controller 900 may check the current position of the robot 1000 in an area stored in the map storage unit 200 and provide a movement signal to the moving unit 300. In addition, the controller 900 may analyze the information about the external object sensed by the sensing module 100 to determine whether there is an inaccessible area in the moving direction, and then control the movement of the moving unit 300. The functional unit 400 is meant to provide specialized functions of the robot. For example, in the case of a cleaning robot, the function unit 400 includes components necessary for cleaning. In the case of a guide robot, the function unit 400 includes components required for guidance. The function unit 400 may include various components according to functions provided by the robot.

When the moving walk or the escalator area is detected by the sensing module 100 or the control unit 900 determines, the robot reduces the speed. In this process, the camera unit 600 captures the movement of the floor and analyzes it to enter. You can check whether this is a possible area. Previously, if the sensing unit 120 checks the material of the floor, the camera unit 600 may extract an image characteristic of the floor and determine the inaccessible area by using the differential image technique. Accordingly, both the information sensed by the sensing module 100 and the information of the map may be used. An embodiment of the camera unit 600 may be a vision camera.

The map storage unit 200 stores the map. The map means information about a space in which the robot 1000 can move. The map divides the entire space into subdivided unit areas and stores whether a fixed object is disposed in the unit area, or the height or material of the fixed object. In addition, the map storage unit may store not only a map but also information on an inaccessible area. For example, the glass wall on the side of the moving walk may be disposed as a stationary object on the map, but the entrance and exit areas of the moving walk may not be displayed on the map because there is no stationary object. Therefore, the robot 1000 may store information on an inaccessible area distinguished from the fixed object in the map for the area determined as the inaccessible area by using the sensing module 100 of FIG. 1.

The map can be constructed in a variety of ways. In an embodiment, the entire space may be divided into X and Y axes, and the information may be stored whether the fixed object or the non-entryable area exists in each unit area by dividing the entire space into constant unit areas.

In FIG. 2, the map storage unit 200 is included in the robot 1000, but according to another embodiment, the map storage unit 200 may be disposed in the server. In this case, the robot 1000 may receive a map stored in the server in real time or at regular time intervals using communication with the communication unit of the server. In addition, the robot 1000 may further transmit information to be stored to the server.

In addition, the map stored in the map storage unit 200 may be generated using a Lidar sensor. For example, in addition to FIG. 1, a lidar sensor may be disposed so that the robot can continuously generate and update a map. In addition, the inaccessible areas such as moving walks and escalators which are determined by the LiDAR sensor as an open space may be identified using the side sensing unit 110, the bottom sensing unit 120, and the depth sensing unit 130. .

FIG. 3 is a diagram illustrating an embodiment in which a space according to an embodiment of the present invention is configured as a map including unit areas. As shown in 210 of FIG. 3, when the unit area is 20x20 and the color of the unit area of the map is black, the information is stored in a space in which a fixed object such as a wall or glass is disposed. When the unit area of the map is white, the corresponding space is a space in which the robot 1000 can move because an object such as an obstacle does not exist. 210 of FIG. 3 may be configured as a kind of bitmap. Each bit in the bitmap of an image file can be configured to represent one unit area. Each unit region may indicate a lower left side as (0, 0) and an upper right side as (19, 19).

In addition, the map storage unit 200 may store information on an inaccessible area in which the robot cannot enter in addition to the map 210 including fixed objects.

4 is a diagram illustrating a process of identifying a non-entry area by a sensing module of a robot according to an embodiment of the present invention. In FIG. 4, the side sensing unit 110 and the sensing data analyzing unit 150 identify a non-entry area of the sensing module. In addition, by using the map stored in the map storage unit 200 to determine whether the control unit 900 is an accessible area or an inaccessible area and also shows the process of storing it in the map storage unit 200.

The robot receives the infrared signal in the first area at the side sensing unit 110 in a driving state (S111) (S112). The received infrared signal is transmitted to the sensing data analyzer 150 and the sensing data analyzer 150 determines the validity of the received infrared signal (S113). In this process, the robot can be stopped or the driving speed can be lowered.

In one embodiment, the validity of the infrared signal is determined by an infrared signal transmitted by a structure such as a post beam to detect a human body or an infrared signal transmitted by another external structure. This division may use the frequency of the infrared signal. If it is a valid infrared signal (S114), the sensing data analysis unit 150 notifies the control unit 900 of the infrared reception state (S115). Alternatively, according to another embodiment of the present invention, if it is determined that the infrared signal is sensed in step S112, the sensing data analyzer 150 may notify the controller 900 of the infrared reception state without a separate validity determination process. If it is determined that the infrared signal is not valid in S114, go back to step S111 to restore or maintain the running state of the robot. In addition, the side sensing unit may move back and forth or up and down to check the received infrared signal again. This will be described later with reference to FIG. 14.

When the infrared signal is received, the controller stops running of the robot (S156), and compares the map with the first area notified that the infrared signal has been received (S157). As a result of the comparison, when the first region is identified as an inaccessible region, information about the first region as an inaccessible region is stored in the map storage unit 200 (S158). After that, the driving direction of the robot is reset (S158) so that the robot does not enter the first area. If it is determined in step S157 that the first region is the accessible region, the controller 900 may control the robot to move in the continuous direction.

S158 means updating the map stored in the map storage unit 200 to perform an evasion operation on the moving walk or the escalator.

At the entrance and exit of the moving walk or escalator, an automatic detection sensor for detecting a person's movement is arranged to start or stop driving according to entry or exit. In particular, the automatic detection sensor is disposed in the structure of the post beam, and in one embodiment transmits and uses an infrared signal. The side sensing unit 110 of the present specification senses a signal transmitted by a sensor disposed in the post beam and provides information sensed to the robot 1000 so as not to enter the moving walk or the escalator.

5 is a view illustrating a process of identifying a non-entry area by a sensing module of a robot according to another embodiment of the present invention. In FIG. 5, a bottom surface sensing unit 120 and a sensing data analysis unit 150 of the sensing module show a process of checking an entry impossible area.

When the robot is in the driving state (S121), the sensing unit 120 senses the material of the lower surface in the first area (S122). The sensing unit 120 may be configured as a sensor that detects metal in a short distance. In addition, the material information of the lower surface sensed by the lower surface sensing unit 120 may be accumulated and stored by the sensing data analysis unit 150. If the bottom surface is made of metal or if the bottom material is sensed to be a material corresponding to an inaccessible area, the sensed information is transmitted to the sensing data analyzer 150 and the sensing data analyzer 150 is sensed. The material of the lower surface is analyzed (S123).

In the above-described analysis process, the robot may be stopped or the driving speed may be decreased. According to an embodiment of the present invention, the analysis is performed by comparing the previously accumulated material information of the lower surface. In the case where the metal is previously sensed with the floor material on which no metal is placed, and the metal is sensed by the floor on which the metal is newly placed in the first area, a change has occurred in the material of the lower surface, and it may be determined that the material corresponds to an inaccessible area. . Therefore, the sensing data analyzer 150 notifies the controller 900 of the lower surface material change of the first region (S125). Subsequent steps S156 to S159 proceed in the same manner as described with reference to FIG. 4. In other words. The controller 900 may compare the first area notified that the material of the lower surface is changed to metal with the map (S157) and proceed to steps S158 and S159 according to the result of the comparison. If the material of the lower surface in S124 does not correspond to the entry impossible area, go back to step S121 to restore or maintain the running state of the robot.

6 is a diagram illustrating a process of identifying a non-entry area by a sensing module of a robot according to another embodiment of the present invention. FIG. 6 is a diagram illustrating a process in which the depth sensing unit 130 and the sensing data analysis unit 150 identify an inaccessible area of the sensing module.

In the running state (S131), the depth sensing unit 130 senses a post beam structure in the first region (S132). This includes the depth sensing unit 130 sensing the depth of the structure of the first region. The depth sensing unit 130 may calculate a depth value of the front image photographed using the vision camera. As a result of the calculation, when a post beam structure erected on an escalate or moving walk is sensed in front of the sensing data, the sensing data analyzer 150 may determine the validity of the sensed structure (S133). That is, the sensing data analyzer may determine whether the post beam is sensed in the depth of the sensed structure. For example, if two bar pillars are sensed in the captured image, and the depths representing the distances of the two pillars are the same, and the size of the pillars is within the effective size range of the post beam, it may be determined that the post beam is sensed. Can be.

In the above-described determination process, the driving of the robot may be stopped or the driving speed may be lowered. If it is determined that the structure determined to be two pillars is a valid post beam structure (S134), the controller 900 notifies the sensing of the post beam structure in the first region (S135). On the other hand, if it was determined to be two pillars, but again sensed after a short time, if the object is difficult to determine the post beam structure, such as the position of the column is changed or the column is moved, go to step S131 again to check the driving state of the robot Restore or maintain

After the sensing data analysis unit 150 notifies the control unit 900 that the post beam of the region into which the first region cannot be entered is disposed as shown in S135, steps S156 to S159 proceed in the same manner as described with reference to FIG. 4. In other words. The controller 900 may compare the first area notified that the post beam structure is disposed with the map (S157) and proceed to steps S158 and S159 according to the result of the comparison.

In FIGS. 4 to 6, a process in which the sensing module of the robot identifies a non-entry area using three types of sensed information is described. However, the sensing data analyzer 150 may use the information sensed by each of the sensing units 110, 120, and 130 or may assign a weight to each of the sensing information to identify an entry impossible area.

The robot 1000 according to an exemplary embodiment of the present invention may transmit the side sensing unit 110 to the controller 900 when the side sensing unit 110 is disposed at the side of the robot and an infrared signal transmitted from the post beam is detected. The controller 900 may use the information sensed by the bottom sensing unit 120 or the depth sensing unit 130, the map of the map storage unit 200, the position of the robot, and the like to determine whether the robot is accessible or not. The movement of the robot can be controlled by determining whether or not.

In particular, the depth sensing unit 130 and the map storage unit 200 may be detected even when the side sensing unit 110 of the robot does not receive an infrared signal due to a malfunction of a sensor that detects a person disposed on a moving walk or an escalator. You can check the availability of the map using the map. In the map storage unit 200, it is confirmed that a fixed structure of a specific pattern (a space in which a long lined wall is arranged and open on both sides) is arranged, or post beams are provided at both sides of the robot entry direction with data of the depth sensing unit 130. You can identify moving structures or escalator areas by checking if the structure is placed. In addition, the lower sensing unit 120 may also check the metal material disposed on the moving walk or the escalator area.

7 is a diagram illustrating a process in which a robot operates by using each sensed value of a sensing module according to an embodiment of the present invention.

Accessible areas and non-accessible areas may be identified through a combination such as weighting the information of each of the sensing units 110, 120, and 130 described with reference to FIGS. 4 to 6.

The controller 900 controls the movement of the robot 300 to control driving of the robot (S710). Therefore, the moving unit 300 maintains the running state of the robot (S711). Afterwards, the sensing units 110, 120, and 130 constituting the sensing module 100 perform sensing on objects of the surroundings (S721, S722, S723), and transmits the sensed result to the controller 900. (S731, S732, S733). In more detail, the side sensing unit 110 senses an infrared signal (S721) and transmits a result of sensing the infrared signal (S731). The lower surface sensing unit 120 senses that the material of the lower surface is changed (S722) and transmits a sensing result regarding the change of the lower surface material (S732). The depth sensing unit 130 senses whether the post beam structure is arranged based on the information photographed by the camera (S723), and transmits a sensing result of the post beam structure (S733).

According to an embodiment of the present invention, the sensing units 110, 120, and 130 may sense the surroundings, and the process of providing the sensing result to the controller 900 may be independently performed. Accordingly, the sensing results of each of the sensing units 110, 120, and 130 may be sent to the control unit 900 to accumulate the received information to determine whether an inaccessible area is disposed in the vicinity.

According to another exemplary embodiment of the present invention, each of the sensing units 110, 120, and 130 may have a priority based on a preset criterion. For example, when the side sensing unit 110 senses an infrared signal, the sensing module 100 provides the control unit 900 by combining the sensing results of the sensing unit 120 and the depth sensing unit 130. can do. In addition, when the lower surface sensing unit 120 senses a material change of the lower surface, the sensing module 100 combines the sensing results of the side sensing unit 110 and the depth sensing unit 130 according to the sensing unit 100. Can be provided to In the same manner, when the depth sensing unit 130 senses the post beam structure, the sensing module 100 combines the sensing results of the side sensing unit 110 and the lower surface sensing unit 120 to the control unit 900. Can provide.

The controller 900 detects the possibility that an inaccessible area is arranged around the robot based on the received information, and determines an inaccessible area based on the received information and the map (S740). For example, it is possible to confirm whether the walls arranged on both sides of the moving walk or the walls arranged on both sides of the escalator are arranged on the map. In the map 210 of FIG. 3, a blank area is defined between a portion marked black in (10, 5) to (10, 14) and a portion marked black in (13, 5) to (13, 14) of the moving walk. In the case of determining the area, the area that cannot be entered may be determined based on information sensed near the entrance and exit areas thereof.

That is, the controller 900 of the robot determines whether a fixed structure is disposed around the first area by using the map storage unit 200 or the stored map to calculate a probability of entering the received first area. Then, by checking whether the length of the identified structure is greater than or equal to the set reference, it is possible to determine whether the first region is an inaccessible region and calculate the probability of entry. An entry probability is a criterion for identifying an entry possible area.

The entry probability may have a value from 0 to 100. For example, when there is no structure such as a wall or glass in the map storage unit 200 while the robot is driving, the entry probability for the corresponding area may be 100. Then, according to the value sensed by the sensing module 100 can reduce the probability of entry into the area. Each sensor may be provided with a weight. When the infrared signal transmitted from the post beam structure is received by the side sensing unit 110 among the sensing modules 100, the entrance probability is set to −50, and the depth sensing unit 130 is provided. When the post beam structure is sensed), the probability of entry is -20, and when the material of the lower surface of the sensing unit 120 is made of a material such as metal, the material change may be -20. In addition, the controller 900 compares the area calculated as a candidate of the inaccessible area by the sensing module 100 with the map storage unit 200 to arrange a wall or glass for estimating the presence of a moving walk or an escalator. If it is confirmed, the probability of entry can be zero. Alternatively, if another robot provides information on the corresponding area, the probability of entry may be calculated based on this.

In summary, the sensed information may be selected by giving priority or weight among the sensed information. For example, when the infrared signal or the post beam structure is not sensed at all, it may not be determined as an inaccessible area when only the material is changed. In this case, the controller 900 does not set the entry probability to a low value or zero.

In addition, when the sensing module 100 provides a result of sensing an infrared signal, a lower surface material change, a post beam structure, and the like, the moving unit 300 may sense the surroundings more accurately while lowering the speed of the robot first. And the sensing module 100 can be controlled.

If the control unit 900 determines that it is an entry impossible area, for example, a moving walk or an escalator through the above-described determination process, the operation of the robot is controlled (S745). For example, if you are a cleaning robot and you are cleaning with a mop, you can stop it. In addition, when cleaning to inhale dust or garbage, the suction pressure can be adjusted so as not to affect the moving walk or the escalator.

Then, the robot controls the moving unit 300 to avoid an entry impossible area (S750). In addition, the information is updated on the map that the corresponding area is an inaccessible area (S760).

On the other hand, if not determined as a moving walk or escalator maintains the operation of the robot (S770). In this process, if an abnormal change in the speed of the robot occurs (S773), the moving unit 300 notifies the control unit 900 of the speed change (S775). For example, when entering the inside of the moving walk, the speed of the robot may be suddenly slowed down or accelerated depending on the reverse driving or constant driving situation of the moving walk. In response, the controller 900 stops driving of the robot and senses the surrounding information through the sensing module 100 (S777). Thereafter, the above-described processes S721 to S740 may be performed.

Through the above-described embodiments, it is possible to determine whether the robot can not enter the area by using an IR sensor disposed on a moving walk, an escalator, or a structure arranged in a large area such as an airport, a terminal, or a hospital. In addition, in order to increase the accuracy of the determination, the robot may include a lower surface sensing unit 120 and a depth sensing unit 130.

On the other hand, in order to accurately receive the signal transmitted by the IR sensor disposed on both sides or one side of the above-mentioned moving walk or escalator, a plurality of side sensing unit 110 may be disposed on the side of the robot. Alternatively, the side sensing unit 110 may be disposed to move up and down on the side of the robot.

4 to 7 are summarized as follows. The sensing module 100 of the robot 1000 senses the first area disposed outside the robot (S112, S122, S132, S721, S722, S723), and the first area sensed by the sensing module 100 enters the robot. When it is determined that the candidate corresponds to the impossible region, the sensor 900 transmits a value sensed to the controller 900 of the robot 1000 and information about the first region (S115, S125, S135, S731, S732, and S733). The controller 900 of the robot 1000 compares the information about the first area with the information stored in the map (S157 and S740) and calculates an entry probability into the first area. In an embodiment of calculating the entry probability, when the first area is a moving walk or an escalator, the entry probability is set to 0 or a very low value. When the probability of entry into the first area is lower than the preset reference, the controller 900 of the robot 1000 stores information about the first area in the map storage unit (S158 and S760).

The entrance probability may decrease the value of the entry probability when it is determined that the previously accumulated depth sensing unit 130 and the sensing information provided by the sensing unit 120 are not accessible. On the other hand, it is determined that the sensing information provided by the depth sensing unit 130 and the lower surface sensing unit 120 is an accessible area. If an infrared signal is received, this may increase the value of the entry probability. In addition, by using the wavelength or frequency of the received infrared signal or the identification information of the signal, the infrared signal transmitted from the post beam structure and the other infrared signal may be distinguished and reflected in the entry probability value.

8 is a view showing the arrangement of the side sensing unit according to an embodiment of the present invention. The infrared light receiving units 810a and 810b disposed on the side of the robot 1000 are one embodiment of the side sensing unit 110. In addition, the lower surface sensing unit 120 disposed on the lower surface of the robot 1000 may sense information on the floor in the traveling direction of the robot. The depth sensing unit 130 disposed on the front surface of the robot 1000 may check the shape of the post beam 890 disposed on the front surface.

The infrared light receivers 810a and 810b may detect infrared signals transmitted from the infrared transmitters 891a and 891b disposed in the post beam 890. In addition, the controller 900 may provide information indicating that the infrared signal has been received, and the controller 900 may stop the driving of the robot and change its direction according to the above-described process.

The infrared light receiving units 810a and 810b may be disposed at both sides of the robot 1000. In addition, the infrared light receiving units 810a and 810b can variably adjust the position up and down.

9 to 11 are views illustrating a process of determining a non-entrance area by a robot according to an embodiment of the present invention. The above figure shows the direction in which the robot travels.

In FIG. 9, the robot 1000 moves close to the post beams 890 and 990 disposed on the moving walk or the escalator. In this process, the depth sensing unit 130 first calculates the depth from the photographed image by photographing the moving direction with the camera. As a result, when the object having the same depth is identified in the form of a post beam (vertically disposed vertically) (see 930), the sensed information is provided to the controller 900. Meanwhile, in FIG. 9, the lower surface sensing unit 120 of the robot 1000 senses the material of the bottom 901 in the advancing direction. The sensed information may also be provided to the controller 900 or the sensing module 100 may hold and determine the information. The controller 900 may check the provided information and the characteristics of the area in which the robot 1000 is currently traveling on the map 210 and adjust the operation of the robot or the moving speed of the robot.

In FIG. 10, the robot 1000 moves closer to the post beams 890 and 990 disposed on the moving walk or the escalator. In this process, the depth sensing unit 130 compares the image 930 sensed in FIG. 9 with the image 1030 sensed in FIG. 10. That is, the first depth image 930 and the second depth image 1030 are stored during the driving process of the robot 1000, and compared with the stored two images 930 and 1030, the sensed structure is closer. You can check it. For example, the width w1 of the structure identified in the image 930 photographed in FIG. 9 and the width w2 of the structure identified in the image 1030 photographed in FIG. 10 may be different or w2 may be greater than w1. have. Similarly, the height h1 of the structure identified in the image 930 photographed in FIG. 9 and the height h2 of the structure identified in the image 1030 photographed in FIG. 10 may be different or h2 may be larger than h1. In this process, the front image captured by the camera unit 600 may also be compared.

Meanwhile, the distance d1 between the structures identified in the image 930 photographed in FIG. 9 and the structure d2 between the structures identified in the image 1030 photographed in FIG. 10 may be equal to or less than d1. have. Information sensed by the depth sensing unit 130 may be stored in the sensing module 100 or transmitted to the control unit 900. In addition, the lower surface sensing unit 120 of the robot 1000 in Figure 10 senses the material of the bottom of the travel direction. The sensed information may also be provided to the controller 900 or the sensing module 100 may hold and determine the information. As in FIG. 9, the sensing module 100 may provide the control unit 900 with sensing information indicating that the material of the floor is maintained as metal. The controller 900 may check the provided information and the characteristics of the area in which the robot 1000 is currently traveling on the map 210 and adjust the robot's operation or the robot's movement speed to be lower than that of FIG. 9.

9 and 10, when the robot 1000 is a cleaning robot, the robot may maintain cleaning. However, by reducing the speed, the robot can turn in the direction immediately after confirming that the robot has entered an inaccessible area.

The images of FIGS. 9 and 10 may show the results of depth sensing. In another embodiment, the image captured by the camera unit 600 may be checked as shown in FIGS. 9 and 10. That is, according to an embodiment of the present invention, the image of FIGS. 9 and 10 includes a result photographed by the depth sensing unit 130. According to another embodiment of the present invention, the image of FIGS. 9 and 10 includes a result captured by the camera unit 600. According to another embodiment of the present invention, the image of FIGS. 9 and 10 includes a combination of the results photographed by the camera unit 600 and the depth sensing unit 130.

In FIG. 11, the infrared signal transmitted from the infrared transmitters 891a and 891b of the post beams 890 and 990 is disposed on both sides of the robot 1000 while the robot 1000 passes between the post beams 890 and 990. When received by the light receiving units 810a and 810c, the sensing module 100 provides the control unit 900 with information that an infrared signal has been received. In this process, the sensing module 100 may provide the control unit 900 with information previously sensed by the depth sensing unit 130 and the lower surface sensing unit 120. According to another embodiment of the present invention, the sensing module 100 continuously provides the control unit 900 with information sensed by the depth sensing unit 130 and the lower surface sensing unit 120, and the control unit 900 holds accumulated information. can do.

The controller 900 checks whether the area is not accessible by combining the information provided from the sensing module 100 and the location of the robot identified in the map 210, and if it is determined that the area is not accessible, such as a moving walk or an escalator. The information about this is stored in the map 210, and the moving unit 300 is controlled to move the robot backward. Alternatively, when the information about the infrared sensing is provided from the sensing module 100, the controller 900 may stop the driving soon and determine whether it is an entry impossible area.

12 is a diagram illustrating updated map information according to another embodiment of the present invention. 9 through 11, the control unit 900 may update the map. For example, the map described with reference to 210 of FIG. 3 may be updated to 1210 of FIG. 12. The portion 1201 is an inaccessible area that the robot 1000 checks while performing the processes of FIGS. 9 to 11.

The controller 900 may update the map 1210 as an inaccessible area, because the area of 1201 is an inaccessible area. That is, when two walls (or glass) are arranged in parallel, and one of the areas where both sides are open is identified as an inaccessible area, the other open area is also set as an inaccessible area. It is possible to prevent entry into moving walks or escalators without a separate search process. However, since the structures of the escalator and the moving walk are different, the control unit 900 may have a length Length MW of the wall as long as the wall of the moving walk is longer than or equal to a length (for example, 5 meters) set as the minimum length of the moving walk. In this case, the inaccessible areas may be set at both sides 1201 and 1202, and if not, it may be determined as an escalator. In addition, even if the escalator is not the top floor or the lowest floor, the escalator may be arranged in both directions, so even if it is determined as an escalator according to the structure of the floor in which the robot 1000 is arranged, any one area 1201 of the open area is open. ) Is identified as an inaccessible area, the other open area may also be set as an inaccessible area.

FIG. 13 is a diagram illustrating a plurality of side sensing units disposed on one side of a robot according to an exemplary embodiment of the present invention. FIG. Four infrared receivers 1310a to 1310d are disposed on the side of the robot 1000. The lower surface sensing unit 120 and the depth sensing unit 130 are disposed on the front surface of the robot 1000. Four infrared receivers 1310a to 1310d may constitute the side sensing unit 110, and these infrared receivers 1310a to 1310d may receive infrared signals of post beams having different heights. At the lower end of the robot 1000, moving units 1330a and 1330b are disposed to move the robot.

14 is a view of adjusting the height and direction of the side sensing unit according to another embodiment of the present invention. Two infrared receivers 1410a and 1410b are disposed on the side of the robot 1000. Both of these infrared receivers 1410a and 1410b can move up and down. In an enlarged manner, the infrared receiver 1410a is coupled to the moving support 1420a for moving the infrared receiver 1410a up and down as shown in 1480.

In one embodiment, if it is determined that at least one of the sensing unit 120 or the depth sensing unit 130 is inaccessible but the infrared signal is not received, the infrared receivers are simultaneously moved while moving the robot 1000 back and forth. The infrared signals may be sensed by moving the 1410a and 1410b up and down. This may include the robot 1000 adjusting the positions of the infrared receivers 1410a and 1410b constituting the side sensing unit 110 when the positions where the infrared signals are transmitted are different.

As shown in FIG. 14, the side sensing unit 110 may adjust the up and down angles so that the infrared signal transmitted from the post beam may be well received. Also, in another embodiment, the side sensing unit 110 may move an angle from side to side, such as 1490.

When the robot 1000 moves closer to the area where the moving walk or the escalator is estimated to be disposed in the map, the depth sensing unit 130, and the lower surface sensing unit 120, the side sensing unit may sense the infrared signal more accurately. It can be adjusted before or after 110.

FIG. 15 is a diagram illustrating a process of sharing information on a non-entry area according to an embodiment of the present invention through communication between a server or an adjacent robot. FIG. 15 illustrates a process in which the controller 900 of the robot transmits information on the first area, which is identified as an inaccessible area to the map storage 200, to another robot or server using the communication unit 500 of the robot. In this process, the server may perform a download transfer of information about an entry impossible area collected from a plurality of robots. According to an embodiment of the present disclosure, the non-accessible area includes coordinate information described above with reference to FIGS. 3 and 12.

The server 2000 transmits information (S1501, S1502) about the entry impossible area to the plurality of robots 1000a, ..., 1000z. The robots 1000a,..., 1000z update the received map information in the map storage unit 200. The server 2000 analyzes the information on the inaccessible area transmitted by the plurality of robots 1000a, ..., 1000z, and updates the information sensed in duplicate at the same location by newly updating the information on one inaccessible area. Can be stored as

Thereafter, the robots 1000a,..., 1000z update the non-entrance area information during the driving process (S1510, S1520). In one embodiment, it includes updating the information of the map storage unit 200 held by each robot. In addition, information about a newly acquired non-accessible area may be transmitted to or shared between robots located adjacent to each other (S1515). At this time, the sharing of information on the inaccessible area may be provided only to robots that are in close proximity to a certain range. Alternatively, moving to the space after the robot may be provided to the predetermined robot.

Each of the robots 1000a,..., 1000z uploads non-entrance area information acquired while driving to the server (S1511, S1521).

The server 2000 updates the received non-entrance area information (S1530). In this process, the duplicated information is organized into information about one object, and new robots do not enter the area information. 1000z) (S1531, S1532). In the downloading process, the non-entrance area information may be downloaded along with the variation information on the map.

16 is a diagram in which a controller of a robot according to an embodiment of the present invention identifies a non-entry area using a map. By applying the above-described embodiment, it can be confirmed that the moving walk or the escalator is arranged using the sensed values of the sensing module 100 or the photographed image of the camera unit 600 in the area indicated by the robot 1601. . In this case, since the open space between the long walls is not accessible, the map 1602 may be updated to an unaccessible area.

In addition, since the moving walks may be connected to each other, the moving walk may be determined for the area 1605 where the wall is determined to be installed in a similar manner. In this case, all of the entry / exit areas 1603 and 1604 of 1605 may update the map.

Therefore, even if the robot 1000 does not search the periphery of the moving walk, the robot 1000 may check the moving walk and update the map. In addition, when the robot 1000 does not sense the moving walk at 1601 and passes through the 1601 to enter the moving walk, when the robot suddenly detects a slow or fast speed, the robot 1000 checks the corresponding section and enters 1601 and 1602. Register as an invalid area. In addition, the 1605 areas that are arranged in succession are also determined to have a moving walk based on a map, and when the vehicle moves to 1602, the 1605 areas may be detoured while avoiding speed, or the sensing of the 1605 space may be performed in more detail.

Meanwhile, in FIG. 16, the robot 1000 may distinguish a moving walk and an escalator. For example, if the distance between entry and exit is not large, it may be determined as an escalator. In this case, the robot 1000 may perform a function for cleaning or security on the moving walk. For example, the moving walk does not operate or a moving walk is performed by using information on a time when there is no person. You can enter to perform cleaning or security functions. Therefore, the moving walk and the escalator may be stored differently on the map. That is, the escalator is a place where entry is impossible, and the moving walk may be stored as a separate entry time.

Meanwhile, in addition to a structure such as a post beam, the depth sensing unit 130 may be used to distinguish the moving walk and the escalator, and only the moving walk may be selectively cleaned / secured. The depth sensing unit 130 may sense that the wall is disposed in front of the up escalator, and sense that there is nothing in the front of the down escalator. Using this information and the length of the side walls that make up the escalator, the moving walk and the escalator can be distinguished and stored in the map.

In the case of applying the present invention, when the map stored in the above-described map storage unit 200 is configured with a lidar sensor, when the robot 1000 moves based only on a fixed structure generated using walls and glass, The sensing module 100 of the present invention identifies the moving walk and the escalator, and as a result, the robot does not enter. Therefore, it is possible to prevent damage to the robot caused by the robot entering the moving walk or the escalator or an accident of human injury to the robot. In particular, when the present invention is applied, an autonomous robot such as a cleaning robot or a guide robot may not enter the moving walk or escalator in a place where many people come and go, such as an airport, a terminal, a port, a train station, and the like.

When the present invention is applied, the robot may be controlled by using a human body detecting sensor disposed in an area, such as an escalator or a moving walk, which is an inaccessible area of the robot. In addition, various sensing units 110 and 120 provide more accuracy in controlling entry to a moving walk or escalator by using an image or a map, and prepare for an error of a map or a loss of a map or a malfunction of an image sensor. , 130) to control the entry of the robot and can increase the accuracy and stability in the movement of the robot.

In particular, when the present invention is applied, the robot may not only create and update a map, but also control the robot not to enter the moving walk or the escalator by automatically determining a region that cannot be entered. Moving spaces and escalators are necessarily arranged in large-scale people moving spaces such as airports, harbors, terminals, and train stations, and the present invention can be applied to accurately determine this and prevent robots from entering.

In addition, all elements constituting an embodiment of the present invention is described as being combined or operated in combination, the present invention is not necessarily limited to these embodiments, all the components within the scope of the present invention It is also possible to operate in combination with one or more selectively. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program includes a storage medium including a magnetic recording medium, an optical recording medium and a semiconductor recording element. In addition, the computer program for implementing an embodiment of the present invention includes a program module transmitted in real time through an external device.

In the above description, the embodiment of the present invention has been described, but various changes and modifications can be made at the level of ordinary skill in the art. Therefore, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

100: sensing module 110, 810: side sensing unit
120: lower surface sensing unit 130: depth sensing unit
200: map storage unit 500: communication unit
600: camera unit 900: control unit
1000: robot

Claims (13)

Sensing, by the sensing module of the robot, a first area disposed outside the robot;
If the sensing module determines that the sensed first area corresponds to a candidate of an inaccessible area that is one of a moving walk or an escalator, transmitting a value sensed to the controller of the robot and information on the first area; ;
Calculating, by the controller of the robot, an entry probability into the first area by comparing information about the first area and information stored in a map storage unit; And
If the probability of entry into the first region is lower than a preset reference, the controller of the robot includes storing information about the first region in a map storage unit,
The sensing step
Receiving an infrared signal transmitted from a human body sensor disposed in the first area by a side sensing unit of the sensing module; And
And determining, by the sensing data analyzer, the validity of the infrared signal.
The method of claim 1,
The determining step
The sensing data analyzer further comprises determining whether the frequency of the received infrared signal is a valid infrared signal transmitted from the human body sensor.
The method of claim 1,
The sensing step
Sensing a depth of a structure of the first region by a depth sensing unit of the sensing module; And
The sensing data analyzer determines whether the post beam is sensed at the depth of the structure sensed in the first area, wherein the post beam is one of the entrance part or the exit part of the inaccessible area such as an escalator and a moving walk. Or a structure consisting of two pillars.
The method of claim 3,
The determining step,
Storing, by the depth sensing unit, first depth images of two post beams at a first time point;
Storing, by the depth sensing unit, second depth images of the two post beams at a second time point; And
And comparing the first depth image with the second depth image and determining that the two depths are close to the two post beams.
The method of claim 1,
The sensing step further comprises the step of sensing the metal material disposed on the bottom of the non-entry area of the sensing module, the sensing module, the accessible area of the robot.
The method of claim 1,
After storing in the map storage unit, the controller of the robot further includes transmitting information on the first area to another robot or a server by using the communication unit of the robot. How to.
A sensing module configured to sense and determine whether the first region disposed outside the robot corresponds to a candidate of the entry impossible region, which is either a moving walk or an escalator, and provide sensing information;
A moving unit for moving the robot;
A map storage unit for storing a map required for movement of the robot; And
A control unit for controlling the moving unit by controlling the sensing module, the moving unit, and the map storage unit, calculating the probability of entry into the first area by comparing the information provided by the sensing module with the information stored in the map storage unit; Include,
The sensing module may include a side sensing unit configured to receive an infrared signal transmitted from a human body sensor disposed in the first area; And
And a sensing data analyzer configured to determine the validity of the infrared signal.
The method of claim 7, wherein
And the information on the first area is stored in the map storage unit when the probability of entry into the first area is lower than a preset criterion.
The method of claim 7, wherein
The sensing data analysis unit identifies the accessible area, determining whether the frequency of the received infrared signal is a valid infrared signal transmitted from the human body sensor.
The method of claim 7, wherein
The sensing module
Further comprising a depth sensing unit for sensing the depth of the structure of the first region,
The sensing data analyzer determines whether the post beam is sensed at the depth of the structure sensed in the first region,
The post beam is a robot for identifying the accessible region, characterized in that the structure consisting of one or two pillars in the entrance or exit of the entry-free area, such as the escalator and moving walk.
The method of claim 10,
The sensing data analysis unit
The depth sensing unit compares the first depth image of the two post beams stored at the first time point with the second depth image of the two post beams stored at the second time point and determines that the two depths are close to the two post beams. , Robot identifying the accessible area.
The method of claim 7, wherein
The sensing module further includes a sensing unit configured to sense a metal material disposed on a bottom of the inaccessible area.
The method of claim 7, wherein
The controller of the robot identifies the accessible area, which is controlled using the communication unit of the robot so as to transmit information on the entry impossible area stored in the map storage unit to another robot or a server.

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